How do I remove the CD player from a 2001 S430

There should be a pinhole that is the emergency eject. Insert a straightened paperclip and push. The disc should eject.

From what I can see, your vehicle came equipped with a variety of different head units. If you can see 2 round holes, one about an inch above the other, on each side of the head unit, those holes are the head unit release. There is a special tool that inserts into the 2 holes on each side and releases a latch, which lets the unit come out.

You may have to remove portions of the dash bezel to access the cage that secures the head unit into the dash.